Dynamic Modeling of Planar Multi-Link Flexible Manipulators
Peer reviewed, Journal article
Published version
Permanent lenke
https://hdl.handle.net/11250/2989924Utgivelsesdato
2021Metadata
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Originalversjon
Subedi, D., Tyapin, I., & Hovland, G. (2021). Dynamic Modeling of Planar Multi-Link Flexible Manipulators. Robotics, 10(2), 26. https://doi.org/10.3390/robotics10020070Sammendrag
A closed-form dynamic model of the planar multi-link flexible manipulator is presented. The assumed modes method is used with the Lagrangian formulation to obtain the dynamic equations of motion. Explicit equations of motion are derived for a three-link case assuming two modes of vibration for each link. The eigenvalue problem associated with the mass boundary conditions, which changes with the robot configuration and payload, is discussed. The time-domain simulation results and frequency-domain analysis of the dynamic model are presented to show the validity of the theoretical derivation.